PowerOutput.h

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//  Copyright (C) 2004-2008, Robotics Equipment Corporation GmbH

#ifndef _REC_ROBOTINO_API2_C_POWEROUTPUT_H_
#define _REC_ROBOTINO_API2_C_POWEROUTPUT_H_

#include "rec/robotino/api2/c/globals.h"
#include "rec/robotino/api2/c/Com.h"

typedef int PowerOutputId;

#define INVALID_POWEROUTPUTID -1

DLLEXPORT PowerOutputId PowerOutput_construct();

DLLEXPORT BOOL PowerOutput_destroy( PowerOutputId id );

DLLEXPORT BOOL PowerOutput_setComId( PowerOutputId id, ComId comId );

DLLEXPORT BOOL PowerOutput_setValue( PowerOutputId id, float setPoint );

DLLEXPORT float PowerOutput_current( PowerOutputId id );

DLLEXPORT float PowerOutput_rawCurrentMeasurment( PowerOutputId id );

#endif //_REC_ROBOTINO_API2_C_POWEROUTPUT_H_